Pith Number

pith:KYLRW2DY

pith:2026:KYLRW2DYE6LB6UUKNQASERKF5M

not attested not anchored not stored refs pending

Per-Group Error, Not Total MSE: Fine-Tuning Vision-Language-Action Models for 11-DoF Mobile Manipulation

Mario Garc\'ia Blasco, Markus Vincze, Pau Montagut Bofi, Tessa Pulli

arxiv:2606.00253 v1 · 2026-05-29 · cs.RO · cs.LG

Open paper page JSON Open Graph Bundle Merged state Verified badge What is a Pith Number?

Add to your LaTeX paper

\usepackage{pith}
\pithnumber{KYLRW2DYE6LB6UUKNQASERKF5M}

Prints a linked badge after your title and injects PDF metadata. Compiles on arXiv. Learn more · Embed verified badge

Record completeness

1 Bitcoin timestamp

2 Internet Archive

3 Author claim open · sign in to claim

4 Citations open

5 Replications open

✓ Portable graph bundle live · download bundle · merged state

The bundle contains the canonical record plus signed events. A mirror can host it anywhere and recompute the same current state with the deterministic merge algorithm.

Receipt and verification

First computed	2026-06-02T01:03:22.833291Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

56171b687827961f528a6c01224545eb3754a5005f518cfab5994a72b40061bc

Aliases

arxiv: 2606.00253 · arxiv_version: 2606.00253v1 · doi: 10.48550/arxiv.2606.00253 · pith_short_12: KYLRW2DYE6LB · pith_short_16: KYLRW2DYE6LB6UUK · pith_short_8: KYLRW2DY

Agent API

Resolver JSON Graph JSON Events JSON Schema Signing key

Verify this Pith Number yourself

curl -sH 'Accept: application/ld+json' https://pith.science/pith/KYLRW2DYE6LB6UUKNQASERKF5M \
  | jq -c '.canonical_record' \
  | python3 -c "import sys,json,hashlib; b=json.dumps(json.loads(sys.stdin.read()), sort_keys=True, separators=(',',':'), ensure_ascii=False).encode(); print(hashlib.sha256(b).hexdigest())"
# expect: 56171b687827961f528a6c01224545eb3754a5005f518cfab5994a72b40061bc

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "b792bfec38cb47d0ebd12c1a053e2b3f7d515bc7ee6873de25cbca8e50d09917",
    "cross_cats_sorted": [
      "cs.LG"
    ],
    "license": "http://creativecommons.org/licenses/by/4.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2026-05-29T18:36:08Z",
    "title_canon_sha256": "16ae7cc5364f54d510d313c760274c49d1c00c9247fe1ad33749e18029326cb3"
  },
  "schema_version": "1.0",
  "source": {
    "id": "2606.00253",
    "kind": "arxiv",
    "version": 1
  }
}